EP2802923B1 - Continuous scanning module, scanning system comprising said module and related scanning method - Google Patents

Continuous scanning module, scanning system comprising said module and related scanning method Download PDF

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Publication number
EP2802923B1
EP2802923B1 EP13707209.6A EP13707209A EP2802923B1 EP 2802923 B1 EP2802923 B1 EP 2802923B1 EP 13707209 A EP13707209 A EP 13707209A EP 2802923 B1 EP2802923 B1 EP 2802923B1
Authority
EP
European Patent Office
Prior art keywords
drum
scanning
image
forward motion
motion compensation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP13707209.6A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2802923A1 (en
Inventor
Monica Olivieri
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leonardo SpA
Original Assignee
Selex ES SpA
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Publication date
Application filed by Selex ES SpA filed Critical Selex ES SpA
Priority to PL13707209T priority Critical patent/PL2802923T3/pl
Priority claimed from PCT/IB2013/050166 external-priority patent/WO2013105023A1/en
Publication of EP2802923A1 publication Critical patent/EP2802923A1/en
Application granted granted Critical
Publication of EP2802923B1 publication Critical patent/EP2802923B1/en
Not-in-force legal-status Critical Current
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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/12—Scanning systems using multifaceted mirrors
    • G02B26/124—Details of the optical system between the light source and the polygonal mirror
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/12—Scanning systems using multifaceted mirrors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
    • H04N1/113—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using oscillating or rotating mirrors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N3/00—Scanning details of television systems; Combination thereof with generation of supply voltages
    • H04N3/02—Scanning details of television systems; Combination thereof with generation of supply voltages by optical-mechanical means only
    • H04N3/08—Scanning details of television systems; Combination thereof with generation of supply voltages by optical-mechanical means only having a moving reflector
    • H04N3/09—Scanning details of television systems; Combination thereof with generation of supply voltages by optical-mechanical means only having a moving reflector for electromagnetic radiation in the invisible region, e.g. infrared

Definitions

  • the present invention relates to scanning modules for acquiring images from a field of view through a detector.
  • the present invention relates in particular to scanning modules comprising a scanning drum with continuous rotational motion.
  • the invention also relates to an image acquisition system comprising at least one scanning module, focusing lenses and at least one detector.
  • scanning modules are often necessary, which acquire sequential portions of the field of view.
  • Step and stare scanning modules are provided with a rotating drum with reflecting faces rotating in a stepped manner.
  • the drum stops at each step, so that the sensor can acquire the image. This is due to the fact that the sensor or detector has a finished integration time.
  • accelerations on the components of these scanning modules are significantly high, greater than 20,000 rad/s 2 . These accelerations cause very high dynamic stresses.
  • scanning modules have been produced wherein the scanning drum rotates at constant angular speed.
  • this function mode leads to a problem of image forward motion.
  • the sensor has a finished integration time, during which the image reflected by the face of the rotating drum moves angularly, and this results in image forward motion.
  • a scanning module is provided to solve or alleviate the above mentioned problems, wherein a forward motion compensation module is associated with a scanning drum, rotating preferably at constant speed; this module eliminates or reduces the image forward motion due to the movement of the rotating drum during the image acquisition time.
  • a continuous scanning module is provided with a first rotating drum, also called, in the following, scanning drum, which has a polygonal cross section, rotates at substantially constant speed and comprises a plurality of first reflecting side faces.
  • a first rotating drum also called, in the following, scanning drum, which has a polygonal cross section, rotates at substantially constant speed and comprises a plurality of first reflecting side faces.
  • the forward motion compensation module advantageously comprises a second drum, or forward motion compensation drum, which has polygonal cross-section and rotates synchronously with the scanning drum. At least some faces of the second drum, or forward motion compensation drum, are reflecting and form second reflecting side faces.
  • Each second reflecting side face of the forward motion compensation drum receives an image from one corresponding first reflecting side face of the scanning drum, and reflects it towards a scanning path.
  • all faces of the two drums are reflecting and the two drums can have the same number of faces.
  • the scanning drum has a first plurality of first reflecting side faces, the same in number as the second plurality of reflecting faces of the forward motion compensation drum.
  • Additional faces may be for instance provided, even non reflecting, for example to acquire equalization images of a sensor associated with the scanning module.
  • the two drums have the same number of faces, even if also this condition is not necessary.
  • one respective reflecting face of the second drum, or forward motion compensation drum corresponds to each active face of the scanning drum, i.e. to each face of the scanning drum designed to reflect, towards the optical path of the device, an image of a portion of the scanning field view identifying a scanning direction. In this way the forward motion effect due to the scanning drum is compensated thanks to the synchronous and coordinated motion of the forward motion compensation drum.
  • the motion of the forward motion compensation drum recovers, i.e. compensates the image forward motion during the integration time caused by the rotation of the scanning drum, counterbalancing the motion of the scanning drum, i.e. maintaining the scanning direction fixed, during the acquisition interval, i.e. during the sensor integration time.
  • Members are arranged along the scanning path to focus and acquire the images of the scene scanned by the scanning module. In the scanning path a focusing lens and a sensor or detector are typically provided.
  • the scanning drum sequentially brings each its reflecting face opposite an image acquisition window.
  • Each face reflects the light beams from the acquisition window towards a corresponding face of the forward motion compensation drum.
  • Each reflecting face of the forward motion compensation drum reflects towards the scanning path the beams received from the scanning drum.
  • one or more bending mirrors may be provided, conveying the beam towards the focusing lens and the sensor.
  • the forward motion compensation drum rotates at substantially the same angular speed as the scanning drum.
  • the directions of rotation are the same. In other embodiments the directions of rotation are opposite. Below examples of both embodiments will be described in detail. The directions of rotation are the same or opposite depending upon the reciprocal position of the axes of rotation of the two drums, as will be better explained below.
  • the two drums preferably have the same number of side faces.
  • the scanning drum has an irregular polygonal cross-section.
  • the forward motion compensation drum may have a regular polygonal cross-section.
  • a side face of the scanning drum may be used.
  • a face of the forward motion compensation drum may be used to acquire a sensor equalization image. In case the sensor does not require equalization, this face may be simply used to complete the rotation of the scanning drum during a dead interval, i.e. when the sensor associated with the scanning module is not acquiring an image.
  • the reflecting faces of the scanning drum and those of the forward motion compensation drum may have flat surfaces, usually extending parallel to the rotation axis of the respective drum.
  • a face of the scanning drum and, if necessary, the corresponding face of the forward motion compensation drum may be inclined to acquire the image of a thermal reference or other equalization image at each complete revolution of the drums.
  • the scanning drum and the forward motion compensation drum may be arranged with the axes of rotation spaced from each other, so that the drums are adjacent to each other.
  • the scanning drum and the forward motion compensation drum may rotate around a common axis.
  • the two drums are superposed onto each other along the axial direction.
  • bending mirrors are provided to bend the image reflected by the reflecting faces of the scanning drum towards the respective reflecting faces of the forward motion compensation drum.
  • the scanning module may comprise more than one forward motion compensation module and more than one scanning path, to increase the overall field of view.
  • the present invention also relates to a scanning system comprising: a scanning module according to one or more of the previous claims; at least one lens; and at least one detector; said lens conveying the image acquired by the scanning module towards said detector.
  • Figure 1 schematically illustrates the main components of the scanning module with the scanning drum, the forward motion compensation (forward motion compensation module and the focusing lens with the sensor or detector for image acquisition.
  • number 1 generically indicates the overall scanning system
  • number 3 indicates the detector or sensor thereof, onto which the image, acquired by the scanning module, is focused through a focusing lens 5.
  • Number 7 indicates the window through which the radiation from an outer scene, whose image must be acquired, enters the scanning system 1.
  • the scanning module is indicated as a whole with number 8 and comprises a first rotating drum 9, also called scanning drum, the rotation axis whereof is indicated with 9A.
  • 11 schematically indicates the motor rotating the drum 9 according to the arrow f9.
  • a forward motion compensation module 13 is provided adjacent the rotating drum 9; it comprises a second rotating drum 15, also called forward motion compensation drum; number 17 indicates the motor rotating this latter.
  • the rotation axis of the drum 15 is indicated with 15A.
  • the motor 17 rotates the forward motion compensation drum 15 according to the arrow f5 in the same direction as the direction f9 of rotation of the scanning drum 9.
  • the angular speed of the two drums 9 and 15 is substantially constant and equal for the two drums.
  • the image of the outer scene is reflected by reflecting surfaces or mirrors arranged on the first rotating drum, or scanning drum, 9, and on the forward motion compensation drum 15; it is then reflected by a bending mirror 21 towards the focusing lens 5.
  • the bending mirror 21 may be omitted, or more bending mirrors may be provided according to the position where the focusing lens 5 and the sensor 3 are arranged.
  • the rotating drum or scanning drum 9 has a substantially prismatic irregular polygonal shape.
  • the shape of the rotating drum 9 may be slightly different, with a face not parallel to the axis 9A of the rotating drum 9, for the purposes explained below.
  • 9.1, 9.2, 9.3, 9.4, 9.5, 9.6 and 9.7 indicate the faces of the rotating drum 9.
  • the faces 9.1-9.7 have the same dimension in the direction orthogonal to the axis 9A of rotation, to allow scanning of different portions of the overall field of view.
  • the number and, thus, the extension of faces 9.1-9.7 may change; that indicated in the figures only represents an exemplary and illustrative embodiment of the concept underlying the invention.
  • faces 9.1 to 9.6 are treated so as to be reflective. Therefore, they form plane mirrors for reflecting the image from the outer scene. Also the face 9.7 may be reflective. In other embodiments, described below, the face 9.7 is non-reflective and may carry a thermal reference for equalizing the sensor 3, or it may form a window for viewing a thermal reference inside the drum 9.
  • the forward motion compensation drum 15 of the forward motion compensation module 13 has a substantially regular prismatic shape with a number of faces equal to that of the scanning drum 9.
  • the faces of the rotating drum 15 are sequentially numbered from 15.1 to 15.7.
  • each face 9.n (n from 1 to 7) cooperates with a corresponding face 15.j (j varying from 1 to 7), to deviate the radiation beam from the observed scene towards the focusing lens 5 on the sensor 3.
  • the beams coming from the outer scene and achieving the face 9.1 of the rotating drum 9 are reflected on the face 15.1 of the rotating drum 15, and so on.
  • This arrangement allows acquiring, in subsequent time intervals, six portions of a field of view, whose overall angle is greater than that of the focusing lens 5 of the sensor 3. Thanks to the combination of the first rotating drum, or scanning drum 9, with the forward motion compensation drum 15, during the image acquisition or integration time of the sensor 3, the image focused by the lens 5 on the image plane of the sensor 3 does not change, as the forward motion of the image due to the rotation of the scanning drum 9 during the acquisition time is balanced by the concord rotation of the drum 15 of the forward motion compensation module 13.
  • each figure of this sequence shows the two rotating drums 9 and 15 of the scanning module 8 in a view parallel to the axes of rotation.
  • Each face of the scanning drum 9 and the corresponding face of the rotating drum 15 reflect, towards the focusing lens 5 and towards the sensor 3, an image of a portion of the field of view that shall be acquired by the sensor or detector 3 in an integration time.
  • each rotating drum 9 and 15 is shown in two distinct angular position, that correspond to the initial and final instant of the image acquisition interval by means of the sensor 3 for one of the six faces 9.1-9.6.
  • 9X and 9Y indicate respectively the two angular positions of the rotating drum or scanning drum 9, corresponding to the initial and final instants of the image acquisition interval.
  • 15X and 15Y indicate the two corresponding positions of the rotating drum 15.
  • the face 9.1 is that involved in scanning in this step.
  • 9.1(X) and 9.1(Y) respectively indicate the two subsequent positions of the face 9.1 when the image acquisition, or integration, interval starts and ends (i.e. the rotating drum 9 moves from the position 9.1(X) to the position 9.1 (Y) during the image integration time).
  • 15.1 (X) and 15.1 (Y) analogously indicate the two positions of the face 15.1 at the initial and final instants of the image acquisition interval.
  • the radiation from the outer scene achieves the face 9.1 and is reflected by it towards the face 15.1; it is then bent by the bending mirror 21 towards the lens 5 focusing the image on the sensor 3.
  • the image framed by the detector when the scanning interval corresponding to the face 9.1 and to the face 15.1 starts, is formed by the beam FX(1).
  • ⁇ 1 indicates the beam width, i.e. the width of the portion of the field of view acquired in this step.
  • the two drums 9 and 15 rotate in the same direction, during the acquisition interval the beam moves from the position FX(1) to the position FY(2).
  • the two beams FX(1) and FY(2) even if displaced relative to each other, remain however parallel. This is due to the compensation, through the forward motion compensation module 13, of the change in the angular position of the reflecting face 9.1 of the scanning drum 9 during the integration time, i.e. during the image acquisition interval by the sensor or detector 3.
  • the observed image is substantially at infinity focus, the translation of the beam FX(1)-FY(2) parallel to itself does not affect the acquired image, i.e. no parallax error occurs.
  • Integration interval i.e. the time necessary to acquire the image reflected by the reflecting face 9.1 relative to the angular speed of rotation of the drums 9 and 15, is sufficiently short; therefore, during this time interval the two reflecting faces 9.1 and 15.1 face each other in such angular positions to project correctly the image acquired by the sensor or detector 3.
  • the sensor 3 stops the image acquisition and both the rotating drums 9 and 15 continue to rotate at constant speed until they achieve the position of figure 2B . In this position or, more exactly, in the time interval during which the rotating drums 9 and 15 move from one to the other of the two potions of figure 2B , the sensor 3 acquires the image i.e. the subsequent portion of the field of view.
  • the image of the outer scene is reflected by the second reflecting face 9.2 of the rotating drum 9 towards the second reflecting face 15.2 of the forward motion compensation drum 15 and from here towards the focusing lens 5 through the bending mirror 21.
  • the second image acquired by the sensor 3 during this acquisition interval corresponds to a different portion of the overall field of view of the scanning module.
  • FX(2) and FY(2) indicate two beams entering at the beginning and at the end of the image acquisition interval.
  • the two beams FX(2) and FY(2) are parallel, like the two beams FX(1) and FY(1), but are angularly displaced relative to these latter.
  • figures 2C, 2D , 2E, and 2F show the acquisition steps of the remaining portions of the overall field of view through the pairs of reflecting faces 9.3, 15.3; 9.4, 15.4; 9.5, 15.5; 9.6, 15.6, respectively.
  • All figures 2A-2F always show the two angular positions of the drums 9 and 15 at the beginning and at the end of the integration interval or image acquisition interval.
  • Each portion of the field of view may have an area overlapping the adjacent portion.
  • the seventh face 9.7 of the rotating drum 9 projects the thermal reference image towards the detector or sensor 3 for equalizing this latter.
  • This step of acquiring the thermal reference image is schematically shown in figure 3 . Acquisition occurs according to the same principle, as rotations of the drums 9 and 15 in the same direction and at the same speed allow compensating the image forward motion.
  • the thermal reference is indicated in figure 3 with T and shown on the same scanning plane as the image of the outer scene. It should however be understood that the reflecting face 9.7 is slightly inclined relative to the axis 9A of rotation of the rotating drum 9 (see figure 1 ) so as to acquire an image of a thermal reference T that is outside the acquisition windows of the images of the outer scene.
  • the shape of the drums 9 and 15 allows acquiring images from a wide field of view by subdividing it into individual view portions, through a continuous rotational motion, eliminating the forward motion effect by combining the concord and synchronous rotations of the two drums.
  • the scanning module may have the following features: Overall field of view (H x V) [9° being the width of the field of view in vertical direction, i.e. parallel to the rotation axis of the drums) 84 degrees x 9 degrees Field of view of the observable scene (H x V) 72 degrees x 9 degrees Fraction of the field of view of equalization image acquisition 12 degrees x 9 degrees Fraction of the field of view acquired by each face 9.1-9.6 12 degrees x 9 degrees Instant Field Of View 0,2 mrad Entrance pupil diameter 40 mm Number of acquisitions at each rotation of the scanning drum 7 Integration time 2 ms Acquisition time of the overall field of view (frame time) 91 ms (11 Hz) Angular speed of the drums 9 and 15 69 rad/s
  • the sensor equalization image may be acquired different manners and not necessarily through a thermal reference T arranged outside the scanning module, as shown in figure 3 .
  • Figure 4 shows, for instance, a modified embodiment wherein the thermal reference for equalizing the sensor or detector 3 is on the face 9.7 of the rotating drum 9.
  • the face 9.7 is no- reflective, and the sensor 3 acquires the equalization image observing the thermal reference arranged on the face 9.7 and reflected onto the reflecting face 15.7 of the rotating drum 15 and from here to the bending mirror 21 towards the focusing lens 5.
  • the dimension of the thermal reference is sufficient to cover the displacement resulting from the motion of the two drums 9 and 15.
  • Figure 5 shows another modified embodiment of the scanning module, wherein the equalization image is acquired from the inside of the rotating drum 9.
  • a surface 9Z carrying the thermal reference T is arranged inside the rotating drum 9.
  • the dimension of the thermal reference is sufficient to cover the displacement resulting from the motion of the two drums 9 and 15.
  • the thermal reference may be arranged on the face 15.7 of the drum 15 of the forward motion compensation module.
  • FIGS. 6 and 7 show a modified embodiment of the scanning module.
  • the same numbers indicate equal or equivalent parts to those of the scanning module described above with reference to figures 1-5 .
  • a first forward motion compensation module 13 is associated, comprising the rotating drum 15 and reflecting the image towards a bending mirror 21, that in turn bends the image path towards a focusing lens 5 of a receiver 3.
  • a second forward motion compensation module 13B is arranged, comprising a further forward motion compensation drum 15B rotating according to the arrow f15B in the same direction and at the same angular speed as the rotating drum 9.
  • a second bending mirror 21B is associated, bending the acquired image towards a second focusing lens 5B associated with a second detector 3B.
  • the arrangement of the members of the forward motion compensation module 13B is substantially the same as that of the forward motion compensation module 13.
  • FIGS 8 and 9 a further embodiment of a scanning module according to the invention is shown.
  • the same numbers indicate the same or equivalent parts to those of the previous embodiments.
  • the first rotating drum or scanning drum 9 is aligned axially with the drum 15 of the forward motion compensation module.
  • reference A indicates the two coincident rotation axes of the drums 9 and 15.
  • the two drums 15 and 9 rotate according to the arrow f15 and f9 respectively.
  • the two drums 9 and 15 rotate at the same angular speed but, in this case, in opposite directions of rotation.
  • the shape of the two drums is substantially equal to what described with reference to the previous embodiments, and the faces are indicated with the same reference numbers.
  • the two drums 9 and 15 are arranged so as to limit the overall bulk of the scanning module and of the whole scanning system. The maximum frequency is in this case 3-4 Hz.
  • FIG. 8 and 9 schematically show a possible position of the lens 5 and the detector 3. It should be understood that the position of the components 5, 3 may differ from that illustrated, for instance using a further bending mirror as shown in the previous embodiments, wherein the axis of the lens 5 is substantially parallel to the rotation axis of the two drums 9 and 15.
  • the equalization image may be acquired for instance as already described with reference to the embodiments illustrated in figures 1 to 7 .
  • inventions 8 and 9 may be further modified by arranging a second forward motion compensation drum and a second lens with corresponding bending mirrors, analogously to the embodiment of figures 6 and 7 .

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Health & Medical Sciences (AREA)
  • Electromagnetism (AREA)
  • Toxicology (AREA)
  • Facsimile Scanning Arrangements (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
EP13707209.6A 2012-01-11 2013-01-09 Continuous scanning module, scanning system comprising said module and related scanning method Not-in-force EP2802923B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL13707209T PL2802923T3 (pl) 2012-01-11 2013-01-09 Moduł skanowania ciągłego, system skanowania zawierający moduł i powiązane sposoby skanowania

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT000001A ITFI20120001A1 (it) 2012-01-11 2012-01-11 Modulo di scansione continua, sistema di scansione comprendente detto modulo e relativo metodo di scansione
PCT/IB2013/050166 WO2013105023A1 (en) 2011-01-03 2013-01-09 Continuous scanning module, scanning system comprising said module and related scanning method

Publications (2)

Publication Number Publication Date
EP2802923A1 EP2802923A1 (en) 2014-11-19
EP2802923B1 true EP2802923B1 (en) 2016-01-06

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EP13707209.6A Not-in-force EP2802923B1 (en) 2012-01-11 2013-01-09 Continuous scanning module, scanning system comprising said module and related scanning method

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EP (1) EP2802923B1 (it)
IT (1) ITFI20120001A1 (it)
PL (1) PL2802923T3 (it)

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Publication number Priority date Publication date Assignee Title
US11564110B2 (en) 2011-11-07 2023-01-24 Dali Wireless, Inc. Soft hand-off and routing data in a virtualized distributed antenna system
US20170250927A1 (en) 2013-12-23 2017-08-31 Dali Systems Co. Ltd. Virtual radio access network using software-defined network of remotes and digital multiplexing switches
WO2022226984A1 (zh) * 2021-04-30 2022-11-03 深圳市大疆创新科技有限公司 扫描视场的控制方法、测距装置和可移动平台

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US2163543A (en) * 1937-07-17 1939-06-20 Kolorama Lab Inc Method of and apparatus for scanning motion picture film
JPS54145551A (en) * 1978-05-08 1979-11-13 Canon Inc Projection optical system
DE3637843A1 (de) * 1986-11-06 1988-05-19 Messerschmitt Boelkow Blohm Optischer scanner
GB9201268D0 (en) * 1992-01-21 1992-03-11 Sira Ltd Optical apparatus
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WO2009025261A1 (ja) * 2007-08-21 2009-02-26 Hoya Corporation マルチビーム走査装置
PL2248073T3 (pl) * 2008-02-05 2016-10-31 Generator wzorca optycznego stosujący segmenty aksikonu

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US20150001396A1 (en) 2015-01-01
ITFI20120001A1 (it) 2013-07-12
EP2802923A1 (en) 2014-11-19
US9176321B2 (en) 2015-11-03
PL2802923T3 (pl) 2016-06-30

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